<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: keypoints/include/pcl/keypoints/brisk_2d.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('keypoints_2include_2pcl_2keypoints_2brisk__2d_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">brisk_2d.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2011, The Autonomous Systems Lab (ASL), ETH Zurich, </span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *                      Stefan Leutenegger, Simon Lynen and Margarita Chli.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_KEYPOINTS_BRISK_KEYPOINT_2D_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_KEYPOINTS_BRISK_KEYPOINT_2D_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/agast_2d.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::Po<span class="keywordtype">int</span>WithScale, <span class="keyword">typename</span> IntensityT = pcl::common::IntensityFieldAccessor&lt;Po<span class="keywordtype">int</span>InT&gt; &gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html">   72</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_brisk_keypoint2_d.html">BriskKeypoint2D</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;BriskKeypoint2D&lt;PointInT, PointOutT, IntensityT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const BriskKeypoint2D&lt;PointInT, PointOutT, IntensityT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Keypoint&lt;PointInT, PointOutT&gt;::KdTree</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::name_</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#a68418f802729d2fb580e6cde185e799c">   89</a></span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a68418f802729d2fb580e6cde185e799c">BriskKeypoint2D</a> (<span class="keywordtype">int</span> octaves = 4, <span class="keywordtype">int</span> threshold = 60)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        : <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">threshold_</a> (threshold)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        , octaves_ (octaves)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        , <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">remove_invalid_3D_keypoints_</a> (false)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a> = 1;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;BriskKeypoint2D&quot;</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#a068060bfdcd60348f20c24b5ff162c85">   99</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a068060bfdcd60348f20c24b5ff162c85">~BriskKeypoint2D</a> ()</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#a0ec5e3aa61678bcbe86e0136636d643d">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a0ec5e3aa61678bcbe86e0136636d643d">setThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> threshold)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">threshold_</a> = threshold;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#aae191e9cb4c9e19c30f76a93a71da0fa">  114</a></span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#aae191e9cb4c9e19c30f76a93a71da0fa">getThreshold</a> ()</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">threshold_</a>);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#a8a58c65d1a846763e52e4068a301811f">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a8a58c65d1a846763e52e4068a301811f">setOctaves</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> octaves)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        octaves_ = octaves;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#abeaf0bb89b1a94e8f15822584e94ef43">  130</a></span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#abeaf0bb89b1a94e8f15822584e94ef43">getOctaves</a> ()</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordflow">return</span> (octaves_);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#afd263e0bb459ce78e7c0fed57dd2899b">  141</a></span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#afd263e0bb459ce78e7c0fed57dd2899b">setRemoveInvalid3DKeypoints</a> (<span class="keywordtype">bool</span> remove)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">remove_invalid_3D_keypoints_</a> = remove;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#a5c53a903009694e3fc7e5694995af95a">  150</a></span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a5c53a903009694e3fc7e5694995af95a">getRemoveInvalid3DKeypoints</a> ()</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">remove_invalid_3D_keypoints_</a>);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      bilinearInterpolation (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud, </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                             <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                             PointOutT &amp;pt)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordtype">int</span> u = int (x);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordtype">int</span> v = int (y);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        pt.x = pt.y = pt.z = 0;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keyword">const</span> PointInT &amp;p1 = (*cloud)(u,   v);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keyword">const</span> PointInT &amp;p2 = (*cloud)(u+1, v);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keyword">const</span> PointInT &amp;p3 = (*cloud)(u,   v+1);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keyword">const</span> PointInT &amp;p4 = (*cloud)(u+1, v+1);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordtype">float</span> fx = x - float (u), fy = y - float (v);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordtype">float</span> fx1 = 1.0f - fx, fy1 = 1.0f - fy;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordtype">float</span> w1 = fx1 * fy1, w2 = fx * fy1, w3 = fx1 * fy, w4 = fx * fy;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keywordtype">float</span> weight = 0;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordflow">if</span> (pcl::isFinite (p1))</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          pt.x += p1.x * w1;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          pt.y += p1.y * w1;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          pt.z += p1.z * w1;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          weight += w1;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordflow">if</span> (pcl::isFinite (p2))</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          pt.x += p2.x * w2;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          pt.y += p2.y * w2;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          pt.z += p2.z * w2;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          weight += w2;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordflow">if</span> (pcl::isFinite (p3))</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          pt.x += p3.x * w3;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          pt.y += p3.y * w3;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          pt.z += p3.z * w3;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          weight += w3;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordflow">if</span> (pcl::isFinite (p4))</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          pt.x += p4.x * w4;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          pt.y += p4.y * w4;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          pt.z += p4.z * w4;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          weight += w4;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordflow">if</span> (weight == 0)</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          pt.x = pt.y = pt.z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          weight = 1.0f / weight;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          pt.x *= weight; pt.y *= weight; pt.z *= weight;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#ad1a8f006a715d4b5551d4c9ebcc3f436">initCompute</a> ();</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a10ccfd8f11572461c6db0732950b6f7a">detectKeypoints</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#ae75fe7b0ad193f4515f73ae4fde736a9">  226</a></span>&#160;      IntensityT <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#ae75fe7b0ad193f4515f73ae4fde736a9">intensity_</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">  229</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">threshold_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keywordtype">int</span> octaves_;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">  236</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">remove_invalid_3D_keypoints_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  };</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="keyword">namespace </span>keypoints</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">namespace </span>brisk</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    {</div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html">  247</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html">Layer</a></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="comment">// constructor arguments</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1brisk_1_1_layer_1_1_common_params.html">  251</a></span>&#160;          <span class="keyword">struct </span><a class="code" href="structpcl_1_1keypoints_1_1brisk_1_1_layer_1_1_common_params.html">CommonParams</a></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;            <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> HALFSAMPLE = 0;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> TWOTHIRDSAMPLE = 1;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;          };</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#adb833564713a5837e11a436c5eb053ac">  264</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#adb833564713a5837e11a436c5eb053ac">Layer</a> (<span class="keyword">const</span> std::vector&lt;unsigned char&gt;&amp; img, </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                 <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height, </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                 <span class="keywordtype">float</span> scale = 1.0f, <span class="keywordtype">float</span> offset = 0.0f);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        </div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a04d7229cbe18a5d679ff08a54b53af36">  272</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a04d7229cbe18a5d679ff08a54b53af36">Layer</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html">Layer</a>&amp; layer, <span class="keywordtype">int</span> mode);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a6dcdd084c4a475e4be954eec6e9c88c8">  279</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a6dcdd084c4a475e4be954eec6e9c88c8">getAgastPoints</a> (uint8_t threshold, std::vector&lt;<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator&lt;pcl::PointUV&gt; &gt; &amp;keypoints);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          <span class="comment">// get scores - attention, this is in layer coordinates, not scale=1 coordinates!</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="comment"></span>          uint8_t </div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a676819d549757a6052070569813242dc">  288</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a676819d549757a6052070569813242dc">getAgastScore</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, uint8_t threshold);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          uint8_t </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aaa4fa82ca009a6611c6818657936fa86">  295</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aaa4fa82ca009a6611c6818657936fa86">getAgastScore_5_8</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, uint8_t threshold);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;          uint8_t </div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a89f3ef52a9cf000202b5efc894a0cf97">  303</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a89f3ef52a9cf000202b5efc894a0cf97">getAgastScore</a> (<span class="keywordtype">float</span> xf, <span class="keywordtype">float</span> yf, uint8_t threshold, <span class="keywordtype">float</span> scale = 1.0f);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          uint8_t </div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a48e0ae0132c01eb7be56e463d4eaf505">  314</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a48e0ae0132c01eb7be56e463d4eaf505">getValue</a> (<span class="keyword">const</span> std::vector&lt;unsigned char&gt;&amp; mat, </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;                    <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height, <span class="keywordtype">float</span> xf, <span class="keywordtype">float</span> yf, <span class="keywordtype">float</span> scale);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;         </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          <span class="keyword">const</span> std::vector&lt;unsigned char&gt;&amp;</div>
<div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a548c841bbb0e482c7f28a48ae2eb06eb">  319</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a548c841bbb0e482c7f28a48ae2eb06eb">getImage</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;            <span class="keywordflow">return</span> (img_);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          }</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aa1959f331288d2458d9df288d97e6489">  326</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aa1959f331288d2458d9df288d97e6489">getImageWidth</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;            <span class="keywordflow">return</span> (img_width_);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;          }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#abe4734c242fd0e139b63d8c2b63a5729">  333</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#abe4734c242fd0e139b63d8c2b63a5729">getImageHeight</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;            <span class="keywordflow">return</span> (img_height_);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;          }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          <span class="keywordtype">float</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#ad300072c06318efcdfa78c8e7bbbacc8">  340</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#ad300072c06318efcdfa78c8e7bbbacc8">getScale</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;            <span class="keywordflow">return</span> (scale_);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;          }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a3899d35a6e24b1dcf6ba02c0f70b4f09">  347</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a3899d35a6e24b1dcf6ba02c0f70b4f09">getOffset</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;            <span class="keywordflow">return</span> (offset_);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;          }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;          <span class="keyword">inline</span> <span class="keyword">const</span> std::vector&lt;unsigned char&gt;&amp;</div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a895bde3e39ba55201a5870b69717db7b">  354</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a895bde3e39ba55201a5870b69717db7b">getScores</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;            <span class="keywordflow">return</span> (scores_);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          }</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          <span class="comment">// half sampling</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;          halfsample (<span class="keyword">const</span> std::vector&lt;unsigned char&gt;&amp; srcimg,</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                      <span class="keywordtype">int</span> srcwidth, <span class="keywordtype">int</span> srcheight,</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                      std::vector&lt;unsigned char&gt;&amp; dstimg,</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;                      <span class="keywordtype">int</span> dstwidth, <span class="keywordtype">int</span> dstheight);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;          <span class="comment">// two third sampling</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;          twothirdsample (<span class="keyword">const</span> std::vector&lt;unsigned char&gt;&amp; srcimg,</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;                          <span class="keywordtype">int</span> srcwidth, <span class="keywordtype">int</span> srcheight,</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;                          std::vector&lt;unsigned char&gt;&amp; dstimg,</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;                          <span class="keywordtype">int</span> dstwidth, <span class="keywordtype">int</span> dstheight);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a92e89b812dd1b5e02bf10cf26cbb998b">  375</a></span>&#160;          std::vector&lt;unsigned char&gt; <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a92e89b812dd1b5e02bf10cf26cbb998b">img_</a>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;          <span class="keywordtype">int</span> img_width_;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;          <span class="keywordtype">int</span> img_height_;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aab3b7ecf8a4805fee3ebd4611da19ec8">  380</a></span>&#160;          std::vector&lt;unsigned char&gt; <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aab3b7ecf8a4805fee3ebd4611da19ec8">scores_</a>;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a53dce45aaefd721485b4b3c11087ae67">  383</a></span>&#160;          <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a53dce45aaefd721485b4b3c11087ae67">scale_</a>;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;          <span class="keywordtype">float</span> offset_;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aa3f5b50a469652850c8e9b1e451f315e">  387</a></span>&#160;          boost::shared_ptr&lt;pcl::keypoints::agast::OastDetector9_16&gt; <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aa3f5b50a469652850c8e9b1e451f315e">oast_detector_</a>;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;          boost::shared_ptr&lt;pcl::keypoints::agast::AgastDetector5_8&gt; agast_detector_5_8_;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      };</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html">  392</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html">ScaleSpace</a></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00398"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a5ba8bc51f46b5645e8242b553fae3ada">  398</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a5ba8bc51f46b5645e8242b553fae3ada">ScaleSpace</a> (<span class="keywordtype">int</span> octaves = 3);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          ~<a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html">ScaleSpace</a> ();</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a7d76800cce5c06421299877f195dc0ba">  407</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a7d76800cce5c06421299877f195dc0ba">constructPyramid</a> (<span class="keyword">const</span> std::vector&lt;unsigned char&gt;&amp; image,</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;                            <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ad3bd3803a23dc47879288696538f4749">  415</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ad3bd3803a23dc47879288696538f4749">getKeypoints</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> threshold, </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;                        std::vector&lt;<a class="code" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a>, Eigen::aligned_allocator&lt;pcl::PointWithScale&gt; &gt;  &amp;keypoints);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a8febd59e990d4e0ff742d076735f9a95">  421</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a8febd59e990d4e0ff742d076735f9a95">isMax2D</a> (<span class="keyword">const</span> uint8_t layer, <span class="keyword">const</span> <span class="keywordtype">int</span> x_layer, <span class="keyword">const</span> <span class="keywordtype">int</span> y_layer);</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ac411ee92b7f4495f908c09c0bced493e">  425</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ac411ee92b7f4495f908c09c0bced493e">refine1D</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> s_05, <span class="keyword">const</span> <span class="keywordtype">float</span> s0, <span class="keyword">const</span> <span class="keywordtype">float</span> s05, <span class="keywordtype">float</span>&amp; max); </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00429"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a01bc4bf801cd48a9b229902fb9790253">  429</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a01bc4bf801cd48a9b229902fb9790253">refine1D_1</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> s_05, <span class="keyword">const</span> <span class="keywordtype">float</span> s0, <span class="keyword">const</span> <span class="keywordtype">float</span> s05, <span class="keywordtype">float</span>&amp; max); </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00433"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a35059cabb6e1521a3f4ea2f64952f8b6">  433</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a35059cabb6e1521a3f4ea2f64952f8b6">refine1D_2</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> s_05, <span class="keyword">const</span> <span class="keywordtype">float</span> s0, <span class="keyword">const</span> <span class="keywordtype">float</span> s05, <span class="keywordtype">float</span>&amp; max); </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00437"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a1905f634b8f72d9799a7c15093515d4d">  437</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a1905f634b8f72d9799a7c15093515d4d">subpixel2D</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> s_0_0, <span class="keyword">const</span> <span class="keywordtype">int</span> s_0_1, <span class="keyword">const</span> <span class="keywordtype">int</span> s_0_2,</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;                      <span class="keyword">const</span> <span class="keywordtype">int</span> s_1_0, <span class="keyword">const</span> <span class="keywordtype">int</span> s_1_1, <span class="keyword">const</span> <span class="keywordtype">int</span> s_1_2,</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;                      <span class="keyword">const</span> <span class="keywordtype">int</span> s_2_0, <span class="keyword">const</span> <span class="keywordtype">int</span> s_2_1, <span class="keyword">const</span> <span class="keywordtype">int</span> s_2_2,</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;                      <span class="keywordtype">float</span>&amp; delta_x, <span class="keywordtype">float</span>&amp; delta_y);</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00444"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#af6199c69da4a029a9371b328d6c550e9">  444</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#af6199c69da4a029a9371b328d6c550e9">refine3D</a> (<span class="keyword">const</span> uint8_t layer,</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;                    <span class="keyword">const</span> <span class="keywordtype">int</span> x_layer, <span class="keyword">const</span> <span class="keywordtype">int</span> y_layer,</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;                    <span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y, <span class="keywordtype">float</span>&amp; scale, <span class="keywordtype">bool</span>&amp; ismax);</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00450"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a09d459a864025a7e6b072e7f07d55652">  450</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a09d459a864025a7e6b072e7f07d55652">getScoreAbove</a> (<span class="keyword">const</span> uint8_t layer, <span class="keyword">const</span> <span class="keywordtype">int</span> x_layer, <span class="keyword">const</span> <span class="keywordtype">int</span> y_layer);</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;          </div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          getScoreBelow (<span class="keyword">const</span> uint8_t layer, <span class="keyword">const</span> <span class="keywordtype">int</span> x_layer, <span class="keyword">const</span> <span class="keywordtype">int</span> y_layer);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00457"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#adad0c8bc11c591c1cf36bdff31db2e53">  457</a></span>&#160;          <a class="code" href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#adad0c8bc11c591c1cf36bdff31db2e53">getScoreMaxAbove</a> (<span class="keyword">const</span> uint8_t layer,</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">int</span> x_layer, <span class="keyword">const</span> <span class="keywordtype">int</span> y_layer,</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">int</span> threshold, <span class="keywordtype">bool</span>&amp; ismax,</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;                            <span class="keywordtype">float</span>&amp; dx, <span class="keywordtype">float</span>&amp; dy);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;          getScoreMaxBelow (<span class="keyword">const</span> uint8_t layer,</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">int</span> x_layer, <span class="keyword">const</span> <span class="keywordtype">int</span> y_layer,</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">int</span> threshold, <span class="keywordtype">bool</span>&amp; ismax,</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                            <span class="keywordtype">float</span>&amp; dx, <span class="keywordtype">float</span>&amp; dy);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;          <span class="comment">// the image pyramids</span></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;          uint8_t layers_;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;          std::vector&lt;pcl::keypoints::brisk::Layer&gt; pyramid_;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;          <span class="comment">// Agast</span></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;          uint8_t threshold_;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;          uint8_t safe_threshold_;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160; </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;          <span class="comment">// some constant parameters</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;          <span class="keywordtype">float</span> safety_factor_;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;          <span class="keywordtype">float</span> basic_size_;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;      };</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    } <span class="comment">// namespace brisk</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  } <span class="comment">// namespace keypoints</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;}</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/impl/brisk_2d.hpp&gt;</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html">pcl::BriskKeypoint2D</a></div><div class="ttdoc">Detects BRISK interest points based on the original code and paper reference by</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a068060bfdcd60348f20c24b5ff162c85"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a068060bfdcd60348f20c24b5ff162c85">pcl::BriskKeypoint2D::~BriskKeypoint2D</a></div><div class="ttdeci">virtual ~BriskKeypoint2D()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a0ec5e3aa61678bcbe86e0136636d643d"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a0ec5e3aa61678bcbe86e0136636d643d">pcl::BriskKeypoint2D::setThreshold</a></div><div class="ttdeci">void setThreshold(const int threshold)</div><div class="ttdoc">Sets the threshold for corner detection.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a10ccfd8f11572461c6db0732950b6f7a"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a10ccfd8f11572461c6db0732950b6f7a">pcl::BriskKeypoint2D::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Detects the keypoints.</div><div class="ttdef"><b>Definition:</b> brisk_2d.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a5c53a903009694e3fc7e5694995af95a"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a5c53a903009694e3fc7e5694995af95a">pcl::BriskKeypoint2D::getRemoveInvalid3DKeypoints</a></div><div class="ttdeci">bool getRemoveInvalid3DKeypoints()</div><div class="ttdoc">Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true)...</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a68418f802729d2fb580e6cde185e799c"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a68418f802729d2fb580e6cde185e799c">pcl::BriskKeypoint2D::BriskKeypoint2D</a></div><div class="ttdeci">BriskKeypoint2D(int octaves=4, int threshold=60)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a7720667cebef6ae7488b29aa9c7793bf"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">pcl::BriskKeypoint2D::remove_invalid_3D_keypoints_</a></div><div class="ttdeci">bool remove_invalid_3D_keypoints_</div><div class="ttdoc">Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true)...</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a8a58c65d1a846763e52e4068a301811f"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a8a58c65d1a846763e52e4068a301811f">pcl::BriskKeypoint2D::setOctaves</a></div><div class="ttdeci">void setOctaves(const int octaves)</div><div class="ttdoc">Set the number of octaves to use</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_aae191e9cb4c9e19c30f76a93a71da0fa"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#aae191e9cb4c9e19c30f76a93a71da0fa">pcl::BriskKeypoint2D::getThreshold</a></div><div class="ttdeci">size_t getThreshold()</div><div class="ttdoc">Get the threshold for corner detection, as set by the user.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_abeaf0bb89b1a94e8f15822584e94ef43"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#abeaf0bb89b1a94e8f15822584e94ef43">pcl::BriskKeypoint2D::getOctaves</a></div><div class="ttdeci">int getOctaves()</div><div class="ttdoc">Returns the number of octaves used.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_ad1a8f006a715d4b5551d4c9ebcc3f436"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#ad1a8f006a715d4b5551d4c9ebcc3f436">pcl::BriskKeypoint2D::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">Initializes everything and checks whether input data is fine.</div><div class="ttdef"><b>Definition:</b> brisk_2d.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_ae75fe7b0ad193f4515f73ae4fde736a9"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#ae75fe7b0ad193f4515f73ae4fde736a9">pcl::BriskKeypoint2D::intensity_</a></div><div class="ttdeci">IntensityT intensity_</div><div class="ttdoc">Intensity field accessor.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_aee505d29a47c20b50b6999408d408725"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">pcl::BriskKeypoint2D::threshold_</a></div><div class="ttdeci">int threshold_</div><div class="ttdoc">Threshold for corner detection.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_afd263e0bb459ce78e7c0fed57dd2899b"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#afd263e0bb459ce78e7c0fed57dd2899b">pcl::BriskKeypoint2D::setRemoveInvalid3DKeypoints</a></div><div class="ttdeci">void setRemoveInvalid3DKeypoints(bool remove)</div><div class="ttdoc">Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that...</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a93359dca5b099e843c3cf0d0db1c59e1"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">pcl::Keypoint&lt; PointInT, pcl::PointWithScale &gt;::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">The number of K nearest neighbors to use for each point.</div><div class="ttdef"><b>Definition:</b> keypoint.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint&lt; PointInT, pcl::PointWithScale &gt;::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html">pcl::keypoints::brisk::Layer</a></div><div class="ttdoc">A layer in the BRISK detector pyramid.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a04d7229cbe18a5d679ff08a54b53af36"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a04d7229cbe18a5d679ff08a54b53af36">pcl::keypoints::brisk::Layer::Layer</a></div><div class="ttdeci">Layer(const Layer &amp;layer, int mode)</div><div class="ttdoc">Copy constructor for deriving a layer.</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a3899d35a6e24b1dcf6ba02c0f70b4f09"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a3899d35a6e24b1dcf6ba02c0f70b4f09">pcl::keypoints::brisk::Layer::getOffset</a></div><div class="ttdeci">float getOffset() const</div><div class="ttdoc">Get the offset used.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:347</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a48e0ae0132c01eb7be56e463d4eaf505"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a48e0ae0132c01eb7be56e463d4eaf505">pcl::keypoints::brisk::Layer::getValue</a></div><div class="ttdeci">uint8_t getValue(const std::vector&lt; unsigned char &gt; &amp;mat, int width, int height, float xf, float yf, float scale)</div><div class="ttdoc">Access gray values (smoothed/interpolated)</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a53dce45aaefd721485b4b3c11087ae67"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a53dce45aaefd721485b4b3c11087ae67">pcl::keypoints::brisk::Layer::scale_</a></div><div class="ttdeci">float scale_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:383</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a548c841bbb0e482c7f28a48ae2eb06eb"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a548c841bbb0e482c7f28a48ae2eb06eb">pcl::keypoints::brisk::Layer::getImage</a></div><div class="ttdeci">const std::vector&lt; unsigned char &gt; &amp; getImage() const</div><div class="ttdoc">Get the image used.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:319</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a676819d549757a6052070569813242dc"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a676819d549757a6052070569813242dc">pcl::keypoints::brisk::Layer::getAgastScore</a></div><div class="ttdeci">uint8_t getAgastScore(int x, int y, uint8_t threshold)</div><div class="ttdoc">Get the AGAST keypoint score for a given pixel using a threshold</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a6dcdd084c4a475e4be954eec6e9c88c8"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a6dcdd084c4a475e4be954eec6e9c88c8">pcl::keypoints::brisk::Layer::getAgastPoints</a></div><div class="ttdeci">void getAgastPoints(uint8_t threshold, std::vector&lt; pcl::PointUV, Eigen::aligned_allocator&lt; pcl::PointUV &gt; &gt; &amp;keypoints)</div><div class="ttdoc">AGAST keypoints without non-max suppression.</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a895bde3e39ba55201a5870b69717db7b"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a895bde3e39ba55201a5870b69717db7b">pcl::keypoints::brisk::Layer::getScores</a></div><div class="ttdeci">const std::vector&lt; unsigned char &gt; &amp; getScores() const</div><div class="ttdoc">Get the scores obtained.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a89f3ef52a9cf000202b5efc894a0cf97"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a89f3ef52a9cf000202b5efc894a0cf97">pcl::keypoints::brisk::Layer::getAgastScore</a></div><div class="ttdeci">uint8_t getAgastScore(float xf, float yf, uint8_t threshold, float scale=1.0f)</div><div class="ttdoc">Get the AGAST keypoint score for a given pixel using a threshold</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_a92e89b812dd1b5e02bf10cf26cbb998b"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a92e89b812dd1b5e02bf10cf26cbb998b">pcl::keypoints::brisk::Layer::img_</a></div><div class="ttdeci">std::vector&lt; unsigned char &gt; img_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:375</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_aa1959f331288d2458d9df288d97e6489"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aa1959f331288d2458d9df288d97e6489">pcl::keypoints::brisk::Layer::getImageWidth</a></div><div class="ttdeci">int getImageWidth() const</div><div class="ttdoc">Get the width of the image used.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:326</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_aa3f5b50a469652850c8e9b1e451f315e"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aa3f5b50a469652850c8e9b1e451f315e">pcl::keypoints::brisk::Layer::oast_detector_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::keypoints::agast::OastDetector9_16 &gt; oast_detector_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:387</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_aaa4fa82ca009a6611c6818657936fa86"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aaa4fa82ca009a6611c6818657936fa86">pcl::keypoints::brisk::Layer::getAgastScore_5_8</a></div><div class="ttdeci">uint8_t getAgastScore_5_8(int x, int y, uint8_t threshold)</div><div class="ttdoc">Get the AGAST keypoint score for a given pixel using a threshold</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_aab3b7ecf8a4805fee3ebd4611da19ec8"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aab3b7ecf8a4805fee3ebd4611da19ec8">pcl::keypoints::brisk::Layer::scores_</a></div><div class="ttdeci">std::vector&lt; unsigned char &gt; scores_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:380</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_abe4734c242fd0e139b63d8c2b63a5729"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#abe4734c242fd0e139b63d8c2b63a5729">pcl::keypoints::brisk::Layer::getImageHeight</a></div><div class="ttdeci">int getImageHeight() const</div><div class="ttdoc">Get the height of the image used.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_ad300072c06318efcdfa78c8e7bbbacc8"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#ad300072c06318efcdfa78c8e7bbbacc8">pcl::keypoints::brisk::Layer::getScale</a></div><div class="ttdeci">float getScale() const</div><div class="ttdoc">Get the scale used.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:340</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_layer_html_adb833564713a5837e11a436c5eb053ac"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#adb833564713a5837e11a436c5eb053ac">pcl::keypoints::brisk::Layer::Layer</a></div><div class="ttdeci">Layer(const std::vector&lt; unsigned char &gt; &amp;img, int width, int height, float scale=1.0f, float offset=0.0f)</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html">pcl::keypoints::brisk::ScaleSpace</a></div><div class="ttdef"><b>Definition:</b> brisk_2d.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_a01bc4bf801cd48a9b229902fb9790253"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a01bc4bf801cd48a9b229902fb9790253">pcl::keypoints::brisk::ScaleSpace::refine1D_1</a></div><div class="ttdeci">float refine1D_1(const float s_05, const float s0, const float s05, float &amp;max)</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_a09d459a864025a7e6b072e7f07d55652"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a09d459a864025a7e6b072e7f07d55652">pcl::keypoints::brisk::ScaleSpace::getScoreAbove</a></div><div class="ttdeci">int getScoreAbove(const uint8_t layer, const int x_layer, const int y_layer)</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_a1905f634b8f72d9799a7c15093515d4d"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a1905f634b8f72d9799a7c15093515d4d">pcl::keypoints::brisk::ScaleSpace::subpixel2D</a></div><div class="ttdeci">float subpixel2D(const int s_0_0, const int s_0_1, const int s_0_2, const int s_1_0, const int s_1_1, const int s_1_2, const int s_2_0, const int s_2_1, const int s_2_2, float &amp;delta_x, float &amp;delta_y)</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_a35059cabb6e1521a3f4ea2f64952f8b6"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a35059cabb6e1521a3f4ea2f64952f8b6">pcl::keypoints::brisk::ScaleSpace::refine1D_2</a></div><div class="ttdeci">float refine1D_2(const float s_05, const float s0, const float s05, float &amp;max)</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_a5ba8bc51f46b5645e8242b553fae3ada"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a5ba8bc51f46b5645e8242b553fae3ada">pcl::keypoints::brisk::ScaleSpace::ScaleSpace</a></div><div class="ttdeci">ScaleSpace(int octaves=3)</div><div class="ttdoc">Constructor. Specify the number of octaves.</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_a7d76800cce5c06421299877f195dc0ba"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a7d76800cce5c06421299877f195dc0ba">pcl::keypoints::brisk::ScaleSpace::constructPyramid</a></div><div class="ttdeci">void constructPyramid(const std::vector&lt; unsigned char &gt; &amp;image, int width, int height)</div><div class="ttdoc">Construct the image pyramids.</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_a8febd59e990d4e0ff742d076735f9a95"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#a8febd59e990d4e0ff742d076735f9a95">pcl::keypoints::brisk::ScaleSpace::isMax2D</a></div><div class="ttdeci">bool isMax2D(const uint8_t layer, const int x_layer, const int y_layer)</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_ac411ee92b7f4495f908c09c0bced493e"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ac411ee92b7f4495f908c09c0bced493e">pcl::keypoints::brisk::ScaleSpace::refine1D</a></div><div class="ttdeci">float refine1D(const float s_05, const float s0, const float s05, float &amp;max)</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_ad3bd3803a23dc47879288696538f4749"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#ad3bd3803a23dc47879288696538f4749">pcl::keypoints::brisk::ScaleSpace::getKeypoints</a></div><div class="ttdeci">void getKeypoints(const int threshold, std::vector&lt; pcl::PointWithScale, Eigen::aligned_allocator&lt; pcl::PointWithScale &gt; &gt; &amp;keypoints)</div><div class="ttdoc">Get the keypoints for the associated image and threshold.</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_adad0c8bc11c591c1cf36bdff31db2e53"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#adad0c8bc11c591c1cf36bdff31db2e53">pcl::keypoints::brisk::ScaleSpace::getScoreMaxAbove</a></div><div class="ttdeci">float getScoreMaxAbove(const uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool &amp;ismax, float &amp;dx, float &amp;dy)</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1brisk_1_1_scale_space_html_af6199c69da4a029a9371b328d6c550e9"><div class="ttname"><a href="classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html#af6199c69da4a029a9371b328d6c550e9">pcl::keypoints::brisk::ScaleSpace::refine3D</a></div><div class="ttdeci">float refine3D(const uint8_t layer, const int x_layer, const int y_layer, float &amp;x, float &amp;y, float &amp;scale, bool &amp;ismax)</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_u_v_html"><div class="ttname"><a href="structpcl_1_1_point_u_v.html">pcl::PointUV</a></div><div class="ttdoc">A 2D point structure representing pixel image coordinates.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:733</div></div>
<div class="ttc" id="astructpcl_1_1_point_with_scale_html"><div class="ttname"><a href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a></div><div class="ttdoc">A point structure representing a 3-D position and scale.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1506</div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1brisk_1_1_layer_1_1_common_params_html"><div class="ttname"><a href="structpcl_1_1keypoints_1_1brisk_1_1_layer_1_1_common_params.html">pcl::keypoints::brisk::Layer::CommonParams</a></div><div class="ttdef"><b>Definition:</b> brisk_2d.h:252</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_1cf6ed481dc4f7cef9fd34ccffda079b.html">keypoints</a></li><li class="navelem"><a class="el" href="dir_d7c2f6375bd80f92082bb7166c4428cb.html">include</a></li><li class="navelem"><a class="el" href="dir_4a4d1c99ac52d5ca0a36cfe66db35c11.html">pcl</a></li><li class="navelem"><a class="el" href="dir_332474dc54987637ffa2f6efab54cb50.html">keypoints</a></li><li class="navelem"><b>brisk_2d.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
